Welcome to the Webinar “Embedded Software for J1939” · PDF fileWelcome to the...
-
Upload
vuongxuyen -
Category
Documents
-
view
251 -
download
9
Transcript of Welcome to the Webinar “Embedded Software for J1939” · PDF fileWelcome to the...
© 2014. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
V1.00 2014-11-10
Welcome to the Webinar“Embedded Software for J1939”
On November 11 at 9 AM (CET)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 2
Agenda
> J1939 Basics
CANbedded J1939
MICROSAR J1939
MICROSAR J1939 with ISOBUS extensions
Feature Matrix: J1939 Embedded Solutions
J1939 Roadmap & History
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 3
J1939 Basics
“The SAE J1939 communications network is applicable for light-duty, medium-duty, and heavy-duty vehicles used on-road or off-road, and for appropriate stationary applications which use vehicle derived components (e.g. generator sets). Vehicles of interest include, but are not limited to, on-highway and off-highway trucks and their trailers, construction equipment, and agricultural equipment and implements.”
Cited from: SAEJ1939 “Serial Control and Communications Heavy Duty Vehicle Network - Top Level Document” (www.sae.org)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 4
J1939 Basics
J1939 Top Level Document for a Serial Control and Communications Vehicle Network.
J1939-0X An application document, where X refers to a specific network/application version of network. This document will identify the industry or applications for which it pertains and will list the specific versions of each layer that makes up this network.
J1939-01 Recommended Practice for Control and Communications Network for On-Highway Equipment
J1939-02 Agricultural and Forestry Off-Road Machinery Control and Communication Network
J1939-03 On Board Diagnostics Implementation Guide
J1939-05 Marine Stern Drive and Inboard Spark-Ignition Engine On-Board Diagnostics Implementation Guide
J1939-1X A Physical Layer document, where X refers to a specific version of the Physical Layer.
J1939-11 Physical Layer, 250K bits/s, Twisted Shielded Pair
J1939-13 Off-Board Diagnostic Connector
J1939-15 Reduced Physical Layer, 250K bits/sec, Un-Shielded Twisted Pair (UTP)
J1939-21 Data Link Layer (no alternative versions permitted)
J1939-3X Network Layer document, where X refers to a specific version of the Network Layer.
J1939-31 Network Layer
J1939-4X Transport Layer document, where X refers to a specific version of the Transport Layer. No Transport Layer documents are presently defined.
J1939-5X Session Layer document, where X refers to a specific version of the Session Layer. No Session Layer documents are presently defined.
J1939-6X Presentation Layer document, where X refers to a specific version of the Presentation Layer. No Presentation Layer docs are presently defined.
J1939-7X Applications Layer Document, where X refers to a specific version of the Application Layer.
J1939-71 Vehicle Application Layer
J1939-73 Application Layer - Diagnostics
J1939-74 Application - Configurable Messaging
J1939-75 Application Layer - Generator Sets and Industrial
J1939-81 Network Management (no alternative versions permitted)
J1939-82 Compliance - Truck and Bus
J1939-84 OBD Communications Compliance Test Cases for Heavy Duty Components and Vehicles
J1939-21 Data Link Layer
J1939-81 Network Management
Relevant Documents
J1939-73 Application Layer - Diagnostics
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 5
J1939 Basics
The SAE specifies aset of possible ECUs(controller functions)and messages (PGs)
The manufacturerdefines the mappingof PGs to controllerfunctions
J1939 uses 29-bit CANidentifier with a definedlayout
> Priority> Parameter group> Destination address> Source address
J1939 Message Format
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 6
J1939 Basics
Each ECU (controller function) needs a unique address
Used as SA and DA
Assigned statically at ECU configuration time or dynamically at runtime
Network Management is responsible for address assignment
Use case: Some ECUs are not known at configuration time
Address claiming sequence (AC) performed at network startup or when new nodes are connected during runtime
Does not support sleep/wakeup handling!
Features: Network Management (J1939-81)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 7
J1939 Basics
For large data (9 .. 1785 Bytes)
Broadcast Announce Message (BAM) [1:n]
Connection Mode Data Transfer (CMDT, aka RTS/CTS) [1:1]
Auxiliary TPs:
ISO-11783 Extended TP (1785 Bytes .. 115 MB) [1:1]
NMEA®2000 Fast Packet TP (1 .. 223 Bytes) [1:n]
Features: Transport Layer (J1939-21)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 8
J1939 Basics
Most messages (PGN) can be requested
Positive/negative acknowledgement available
Used heavily for J1939 diagnostics
Request Handling (J1939-21)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 9
J1939 Basics
J1939 specifies diagnostic messages (DM1 – DM57)
Similar possibilities as ISO-15765/14229/14230 (UDS/KWP2000)
Compatibility to UDS Diagnostics
J1939 reserves specific PGNs for ISO-15765 TP messages
UDS can be run in parallel to J1939 diagnostics
Typical use case: European trucks
Features: Diagnostics (J1939-73)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 10
Agenda
J1939 Basics
> CANbedded J1939
MICROSAR J1939
MICROSAR J1939 with ISOBUS extensions
Feature Matrix: J1939 Embedded Solutions
J1939 Roadmap & History
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 11
TPFP
TPETP
CANbedded J1939
J1939 Dynamic Interaction Layer
Application
CAN controller
Generation Tool
GENy
OS (OSEK)J1939
dyn. NM
J1939 Base Module
TPCMDT
TPFP
TPETP
TPBAM
ISO TP
ISO Diag
CAN Driver
ISO TP
*ISO Diag
J1939 Base Module
TPCMDT
TPBAM
J1939 Dynamic Interaction Layer
J1939 dyn. NM
J1939/1X: Physical layer
J1939/21: Transport Protocols (DLC> 8)
J1939/81: Network Management
J1939/7X: Application Layer
Architecture
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 12
CANbedded J1939
J1939 Dynamic Interaction Layer
Application
CAN controller
Generation Tool
GENy
OS (OSEK)J1939
dyn. NM
J1939 Base Module
TPCMDT
TPFP
TPETP
TPBAM
ISO TP
ISO Diag
CAN Driver
Example: Typical Truck Configuration
ISO TP
ISO Diag
*
J1939 Base Module
TPCMDT
TPBAM
J1939 Dynamic Interaction Layer
J1939 dyn. NM
*Diagnostic options: UDS or KWP2000
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 13
Agenda
J1939 Basics
CANbedded J1939
> MICROSAR J1939
MICROSAR J1939 with ISOBUS extensions
Feature Matrix: J1939 Embedded Solutions
J1939 Roadmap & History
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 14
MICROSAR J1939MICROSAR3 Basic Software Modules with J1939Tp
Application
MIC
RO
SA
R O
S
MICROSAR RTE
MIC
RO
SA
R I
O
Complex
Drivers
MIC
RO
SA
R S
YS
MIC
RO
SA
R D
IAG
MICROSAR COM
MIC
RO
SA
R M
EM
MIC
RO
SA
R C
AN
MIC
RO
SA
R L
IN
MIC
RO
SA
R F
R
MICROSAR CAL MICROSAR EXT
Microcontroller
OS
COMM
CRC
DET
ECUM
SCHM
WDGM
WDGIF
DCM
DEM
NVM
MEMIF
EA
FEE
COM PDURIPDUM NM
J1939TP1,2
CANTP
CANNM
CANSM
CANIF
LINTP
LINSM
LINIF
FRTP
FRNM
FRSM
FRIF
IOHW
DRVEX
T1
CAN
TRCV
LIN
TRCV
1
FRTR
CV
GPT
DRV
WD
GD
RV
MCU
DRV
FLSD
RV
EEPD
RV
CAN
DRV
LIN
DRV
SPI
DRV
FRD
RV
ICU
DRV
PWM
DRV
AD
CD
RV
DIO
DRV
PORTD
RV
FIM
1 Includes BAM and CMDT2 Back-port from AUTOSAR 4.0
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 15
MICROSAR J1939MICROSAR4 – Vector’s full range of Basic Software Modules for J1939
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 16
MICROSAR J1939
Meta Data:
Transmission/Reception with variable CAN IDs
J1939Nm features:
AddressClaimed / CannotClaimAddress
Evaluation of received AddressClaimed
J1939Tp features:
Transparent switching between protocols
J1939Rm features:
Transmission and reception of Request and Acknowledgement
29bit CAN-Identifier
28 … 26 15 … 823 … 16
PDUFormat
Priority SourceAddress
25, 24
DP, EDP
DestinationAddress
7 … 0
Features of AUTOSAR 4.1
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 17
MICROSAR J1939
J1939Dcm1 features:
Support for themost commondiagnosticmessages
Central handlingof diagnostic datain DEM2
> Same data accessed by J1939 and UDS diagnostics
1 J1939Dcm: SAE J1939 Diagnostics Communication Manager (see AUTOSAR)2 DEM: Diagnostics Event Manager (see AUTOSAR)
DiagnosticsFeatures of AUTOSAR 4.1Name Size Received Transmitted Description
DM1 Var. - Cyclic 1s Active Diagnostic Trouble Codes
DM2 Var. - On RequestPreviously Active Diagnostic Trouble Codes
DM3 - - On RequestDiagnostic Data Clear/Reset for Previously Active DTCs
DM4 Var. - On Request Freeze Frame ParametersDM5 8 - On Request Diagnostic Readiness 1DM6 Var. - On Request Emission Related Pending DTCs
DM11 - - On RequestDiagnostic Data Clear/Reset for Active DTCs
DM12 Var. - On Request Emissions Related Active DTCsDM13 8 X - Stop Start BroadcastDM19 Var. - On Request Calibration Information
DM20 Var. - On RequestMonitor Performance Ratio SAE J1939-73 Revised SEP2006
DM21 8 - On Request Diagnostic Readiness 2
DM23 Var. - On RequestPreviously Active Emission Related Faults
DM24 8 - On Request SPN SupportDM25 Var. - On Request Expanded Freeze FrameDM26 Var. - On Request Diagnostic Readiness 3DM28 Var. - On Request Permanent DTCs
DM29 8 - On RequestRegulated DTC Counts (Pending, Permanent, MIL-On, PMIL-On)
DM31 Var. - On Request DTC to Lamp AssociationDM35 Var. - On Request Immediate Fault Status
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 18
Agenda
J1939 Basics
CANbedded J1939
MICROSAR J1939
> MICROSAR J1939 with ISOBUS extensions
Feature Matrix: J1939 Embedded Solutions
J1939 Roadmap & History
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 19
Green text: New module
Red text: Changed module
MICROSAR J1939 with ISOBUS extensionsArchitecture (proposal)
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 20
MICROSAR J1939 with ISOBUS extensions
Change in J1939Nm:
Fully dynamic address assignment for local ECU
Tracking of dynamically assigned addresses of other ECUs
Extension of J1939Tp:
Support for Extended TP (ETP, defined in ISO 11783-3)
Fast Packet Transport Protocol (FPTP, defined by NMEA® 2000)
Change in J1939Rm:
ACKM: Use SA as DA, set AddressAcknowledged to 0xFF
Change in J1939Dcm:
Different timing of DM1
Details
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 21
Agenda
J1939 Basics
CANbedded J1939
MICROSAR J1939
MICROSAR J1939 with ISOBUS extensions
> Feature Matrix: J1939 Embedded Solutions
J1939 Roadmap & History
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 22
Feature Matrix: J1939 Embedded Solutions
CANbedded MICROSAR3 MICROSAR4J1939 Transport Protocols J1939 Network Management - J1939 Request handling - J1939 Diagnostics - - ISOBUS ETP - NMEA® 2000 FastPacket TP - ISOBUS deviations from J1939 - - Separate API for J1939 - -Common API for all modules -
MICROSAR: Vector AUTOSAR solution
ISOBUS: ISO-11783 compliant application
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 23
J1939 Roadmap & History
CANbedded
First deliveries >10years ago,
Stack still maintained as an alternative to AUTOSAR stack
AUTOSAR3
Serial production version available.
First OEM started serial production 1 year ago.
AUTOSAR4
Serial production version of J1939Tp available
Other serial production versions planned for Q3/2015
Developed and improved in cooperation with major OEMs of the truck and agriculture industry
© 2011 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 24
Please visit us at www.vector.com
Thank you for your attention.